From dc34cf3ccf5a2b8a6b75c9eb6bb1a74db681a1a9 Mon Sep 17 00:00:00 2001
From: Ben Nuttall <ben@bennuttall.com>
Date: Fri, 2 Oct 2015 15:27:55 +0100
Subject: [PATCH] Implement Motor, Robot and RyanteckRobot

---
 gpiozero/__init__.py       |  3 +-
 gpiozero/boards.py         | 87 +++++++++++++++++++++++++++++++++++++-
 gpiozero/output_devices.py | 66 ++++++++---------------------
 3 files changed, 106 insertions(+), 50 deletions(-)

diff --git a/gpiozero/__init__.py b/gpiozero/__init__.py
index 85e7088..fb01dce 100644
--- a/gpiozero/__init__.py
+++ b/gpiozero/__init__.py
@@ -19,7 +19,6 @@ from .output_devices import (
     LED,
     Buzzer,
     Motor,
-    Robot,
     RGBLED,
 )
 from .boards import (
@@ -29,4 +28,6 @@ from .boards import (
     PiTraffic,
     FishDish,
     TrafficHat,
+    Robot,
+    RyanteckRobot,
 )
diff --git a/gpiozero/boards.py b/gpiozero/boards.py
index 962d283..d40d58e 100644
--- a/gpiozero/boards.py
+++ b/gpiozero/boards.py
@@ -1,5 +1,5 @@
 from .input_devices import Button
-from .output_devices import LED, Buzzer
+from .output_devices import LED, Buzzer, Motor
 from .devices import GPIODeviceError
 
 from time import sleep
@@ -213,3 +213,88 @@ class TrafficHat(FishDish):
         self.buzzer = Buzzer(5)
         self.button = Button(25)
         self._all = self._leds + (self.buzzer,)
+
+
+class Robot(object):
+    """
+    Generic dual-motor Robot.
+    """
+    def __init__(self, left=None, right=None):
+        if not all([left, right]):
+            raise GPIODeviceError('left and right motor pins must be provided')
+
+        left_forward, left_back = left
+        right_forward, right_back = right
+
+        self._left = Motor(forward=left_forward, back=left_back)
+        self._right = Motor(forward=right_forward, back=right_back)
+
+    def left(self, seconds=None):
+        """
+        Turn left. If seconds given, stop after given number of seconds.
+
+        seconds: None
+            Number of seconds to turn left for
+        """
+        self._left.forward()
+        self._right.backward()
+        if seconds is not None:
+            sleep(seconds)
+            self._left.stop()
+            self._right.stop()
+
+    def right(self, seconds=None):
+        """
+        Turn right. If seconds given, stop after given number of seconds.
+
+        seconds: None
+            Number of seconds to turn right for
+        """
+        self._right.forward()
+        self._left.backward()
+        if seconds is not None:
+            sleep(seconds)
+            self._left.stop()
+            self._right.stop()
+
+    def forward(self, seconds=None):
+        """
+        Drive forward. If seconds given, stop after given number of seconds.
+
+        seconds: None
+            Number of seconds to drive forward for
+        """
+        self._left.forward()
+        self._right.forward()
+        if seconds is not None:
+            sleep(seconds)
+            self._left.stop()
+            self._right.stop()
+
+    def backward(self, seconds=None):
+        """
+        Drive backward. If seconds given, stop after given number of seconds.
+
+        seconds: None
+            Number of seconds to drive backward for
+        """
+        self._left.backward()
+        self._right.backward()
+        if seconds is not None:
+            sleep(seconds)
+            self._left.stop()
+            self._right.stop()
+
+    def stop(self):
+        """
+        Stop both motors.
+        """
+        self._left.stop()
+        self._right.stop()
+
+
+class RyanteckRobot(Robot):
+    def __init__(self):
+        left = (17, 18)
+        right = (22, 23)
+        super(RyanteckRobot, self).__init__(left=left, right=right)
diff --git a/gpiozero/output_devices.py b/gpiozero/output_devices.py
index 4ad99d6..5015bf9 100644
--- a/gpiozero/output_devices.py
+++ b/gpiozero/output_devices.py
@@ -243,64 +243,34 @@ class RGBLED(object):
         self._blue.value = b
 
 
-class Motor(OutputDevice):
+class Motor(object):
     """
-    Generic single-direction motor.
+    Generic bi-directional motor.
     """
-    pass
+    def __init__(self, forward=None, back=None):
+        if not all([forward, back]):
+            raise GPIODeviceError('forward and back pins must be provided')
 
+        self._forward = OutputDevice(forward)
+        self._backward = OutputDevice(back)
 
-class Robot(object):
-    """
-    Generic single-direction dual-motor Robot.
-    """
-    def __init__(self, left=None, right=None):
-        if not all([left, right]):
-            raise GPIODeviceError('left and right pins must be provided')
-
-        self._left = Motor(left)
-        self._right = Motor(right)
-
-    def left(self, seconds=None):
+    def forward(self):
         """
-        Turns left for a given number of seconds.
-
-        seconds: None
-            Number of seconds to turn left for
+        Turn the motor on, forwards
         """
-        self._left.on()
-        if seconds is not None:
-            sleep(seconds)
-            self._left.off()
+        self._forward.on()
+        self._backward.off()
 
-    def right(self, seconds=None):
+    def backward(self):
         """
-        Turns right for a given number of seconds.
-
-        seconds: None
-            Number of seconds to turn right for
+        Turn the motor on, backwards
         """
-        self._right.on()
-        if seconds is not None:
-            sleep(seconds)
-            self._right.off()
-
-    def forwards(self, seconds=None):
-        """
-        Drives forward for a given number of seconds.
-
-        seconds: None
-            Number of seconds to drive forward for
-        """
-        self.left()
-        self.right()
-        if seconds is not None:
-            sleep(seconds)
-            self.stop()
+        self._backward.on()
+        self._forward.off()
 
     def stop(self):
         """
-        Stops both motors.
+        Stop the motor
         """
-        self._left.off()
-        self._right.off()
+        self._forward.off()
+        self._backward.off()